Wondering if anyone can tell me the quick and easy way to run services at startup?

I'm trying to make it so that lrizzo's awesome "myts.arm" terminal / launchpad app runs by default at startup. Right now I have to manually start it via remote login, or using the "Kindleterm" kindlet.

Can I make an /etc/rc.local ?

My ubuntu computer's rc.local says "This script is executed at the end of each multiuser runlevel" -- so it seems like if I just put a command to start it in there
(e.g. "/mnt/us/kiterm/myts.arm &") then it might run that up to 4 times, if it goes into all of runlevels 2-5.

Or is there another way? I've been looking up docs on the issue, but it's hard to find exactly the best way to do it; so I thought I'd post here, so it might benefit other Kindle tweaking people.